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- # MPG
- setp hm2_5i25.0.encoder.05.counter-mode true
- loadrt mux4 names=mpg-scale
- addf mpg-scale servo-thread
- loadrt ilowpass
- addf ilowpass.0 servo-thread
- loadrt or2 count=2
- addf or2.0 servo-thread
- addf or2.1 servo-thread
- setp ilowpass.0.gain 0.02
- setp ilowpass.0.scale 1000
- setp mpg-scale.in0 0.0
- setp mpg-scale.in1 -0.0000001
- setp mpg-scale.in2 -0.000001
- setp mpg-scale.in3 -0.00001
- net jog-smoothing ilowpass.0.in <= hm2_5i25.0.encoder.05.count
- net jog-position <= ilowpass.0.out
- net jog-position => joint.0.jog-counts axis.x.jog-counts
- net jog-position => joint.1.jog-counts axis.y.jog-counts
- net jog-position => joint.2.jog-counts axis.z.jog-counts
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